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Learning-based methods have shown promising performance for accelerating motion planning, but mostly in the setting of static environments. For the more challenging problem of planning in dynamic environments, such as multi-arm assembly…

We address tracking and prediction of multiple moving objects in visual data streams as inference and sampling in a disentangled latent state-space model. By encoding objects separately and including explicit position information in the…

In the typical autonomous driving stack, planning and control systems represent two of the most crucial components in which data retrieved by sensors and processed by perception algorithms are used to implement a safe and comfortable…

Traditional approaches to prediction of future trajectory of road agents rely on knowing information about their past trajectory. This work rather relies only on having knowledge of the current state and intended direction to make…

Visual saliency models have recently begun to incorporate deep learning to achieve predictive capacity much greater than previous unsupervised methods. However, most existing models predict saliency using local mechanisms limited to the…

Automated driving in urban settings is challenging. Human participant behavior is difficult to model, and conventional, rule-based Automated Driving Systems (ADSs) tend to fail when they face unmodeled dynamics. On the other hand, the more…

Inspired by human neurological structures for action anticipation, we present an action anticipation model that enables the prediction of plausible future actions by forecasting both the visual and temporal future. In contrast to current…

In this paper we treat optimal trajectory planning for an autonomous vehicle (AV) operating in dense traffic, where vehicles closely interact with each other. To tackle this problem, we present a novel framework that couples trajectory…

Behavior prediction plays an important role in integrated autonomous driving software solutions. In behavior prediction research, interactive behavior prediction is a less-explored area, compared to single-agent behavior prediction.…

In this paper, we propose a novel approach for agent motion prediction in cluttered environments. One of the main challenges in predicting agent motion is accounting for location and context-specific information. Our main contribution is…

Motion prediction for traffic participants is essential for a safe and robust automated driving system, especially in cluttered urban environments. However, it is highly challenging due to the complex road topology as well as the uncertain…

We propose a novel conditional GAN (cGAN) model for continuous fine-grained human action segmentation, that utilises multi-modal data and learned scene context information. The proposed approach utilises two GANs: termed Action GAN and…

We consider the problems of learning forward models that map state to high-dimensional images and inverse models that map high-dimensional images to state in robotics. Specifically, we present a perceptual model for generating video frames…

In this paper, we introduce a novel framework that can learn to make visual predictions about the motion of a robotic agent from raw video frames. Our proposed motion prediction network (PROM-Net) can learn in a completely unsupervised…

Understanding the shape of a scene from a single color image is a formidable computer vision task. However, most methods aim to predict the geometry of surfaces that are visible to the camera, which is of limited use when planning paths for…

To improve the classification performance in the context of hyperspectral image processing, many works have been developed based on two common strategies, namely the spatial-spectral information integration and the utilization of neural…

Humans can routinely follow a trajectory defined by a list of images/landmarks. However, traditional robot navigation methods require accurate mapping of the environment, localization, and planning. Moreover, these methods are sensitive to…

Deep reinforcement learning (DRL) provides a promising way for learning navigation in complex autonomous driving scenarios. However, identifying the subtle cues that can indicate drastically different outcomes remains an open problem with…

Interconnected road lanes are a central concept for navigating urban roads. Currently, most autonomous vehicles rely on preconstructed lane maps as designing an algorithmic model is difficult. However, the generation and maintenance of such…

Machine understanding of complex images is a key goal of artificial intelligence. One challenge underlying this task is that visual scenes contain multiple inter-related objects, and that global context plays an important role in…